(h=Ω+d·M (OverHat[x])(Equation   7)(OverTilde[θ])=arc tan 2((Subscript[h, 1]),(Subscript[h, 0]))(Equation   8)(Subscript[J, h])=(((-(Subscript[h, 1])   (Subscript[h, 0])))/((\[LeftDoubleBracketingBar]h\[RightDoubleBracketingBar])^2))(Equation   9)H=(Subscript[J, h])(Subscript[BJ, h]^T)(Equation   10))